수중항만공사로봇의 최적화 설계 및 시스템 개발에 관한 연구
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This paper studies on optimal design of a parallel-typed underwater robot for harbor construction. The robot needs to have large payload, high stiffness and simple structure. Based on a parallel-typed, we design the robot structure to be appropriate for the needs. The degree of improvement attainable is quantified by optimizing the manipulator design with respect to a weighted sum of the dexterity, the workspace volume, and the height. An object function is defined and minimized by optimized parameters. The Robot composed of a parallel mechanism and a stone grapple. The parallel mechanism consist of a base, a platform with six hydraulic servo cylinder, which are linked by universal joints between the base and the platform. The parallel mechanism generates position and orientation of the stone grapple. The Robot has hydraulic system. It is consist of six servo cylinders and six on-off cylinders. It is developed that a Control program for the robot operation. The program consists of kinematic analysis, RS-232 communication, joystick input and data processing. Also a graphic simulator is developed to visualize the motion and before actual work.